• The Journal of Korea Robotics Society
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• v.19 no.2
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• pp.196-202
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• 2024

The ability to understand given environments and plan a sequence of actions leading to goal state is crucial for personal service robots. With recent advancements in deep learning, numerous studies have proposed methods for state representation in planning. However, previous works lack explicit information about relationships between objects when the state observation is converted to a single visual embedding containing all state information. In this paper, we introduce graph-based state representation that incorporates both object and relationship features. To leverage these advantages in addressing the task planning problem, we propose a Graph Neural Network (GNN)-based subgoal prediction model. This model can extract rich information about object and their interconnected relationships from given state graph. Moreover, a search-based algorithm is integrated with pre-trained subgoal prediction model and state transition module to explore diverse states and find proper sequence of subgoals. The proposed method is trained with synthetic task dataset collected in simulation environment, demonstrating a higher success rate with fewer additional searches compared to baseline methods.

• International Journal of Control, Automation, and Systems
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• v.6 no.6
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• pp.904-914
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• 2008

An action-selection-mechanism(ASM) has been proposed to work as a fully connected finite state machine to deal with sequential behaviors as well as to allow a state in the task program to migrate to any state in the task, in which a primitive node in association with a state and its transitional conditions can be easily inserted/deleted. Also, such a primitive node can be learned by a shortest path-finding-based reinforcement learning technique. Specifically, we define a behavioral motivation as having state-dependent value as a primitive node for action selection, and then sequentially construct a network of behavioral motivations in such a way that the value of a parent node is allowed to flow into a child node by a releasing mechanism. A vertical path in a network represents a behavioral sequence. Here, such a tree for our proposed ASM can be newly generated and/or updated whenever a new behavior sequence is learned. To show the validity of our proposed ASM, experimental results of a mobile robot performing the task of pushing- a- box-in to- a-goal(PBIG) will be illustrated.

• Proceedings of the Korea Information Processing Society Conference
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• 2019.05a
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• pp.472-474
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• 2019

Because of the difference in network structure and loss function, Verification and identification models have their respective advantages and limitations for person reidentification (re-ID). In this work, we propose a multi-task network simultaneously computes the identification loss and verification loss for person reidentification. Given a pair of images as network input, the multi-task network simultaneously outputs the identities of the two images and whether the images belong to the same identity. In experiments, we analyze the major factors affect the accuracy of person reidentification. To address the occlusion problem and improve the generalization ability of reID models, we use the Random Erasing Augmentation (REA) method to preprocess the images. The method can be easily applied to different pre-trained networks, such as ResNet and VGG. The experimental results on the Market1501 datasets show significant and consistent improvements over the state-of-the-art methods.

• Smart Structures and Systems
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• v.31 no.4
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• pp.383-392
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• 2023

Post-earthquake building condition assessment is crucial for subsequent rescue and remediation and can be automated by emerging computer vision and deep learning technologies. This study is based on an endeavour for the 2nd International Competition of Structural Health Monitoring (IC-SHM 2021). The task package includes five image segmentation objectives - defects (crack/spall/rebar exposure), structural component, and damage state. The structural component and damage state tasks are identified as the priority that can form actionable decisions. A multi-task Convolutional Neural Network (CNN) is proposed to conduct the two major tasks simultaneously. The rest 3 sub-tasks (spall/crack/rebar exposure) were incorporated as auxiliary tasks. By synchronously learning defect information (spall/crack/rebar exposure), the multi-task CNN model outperforms the counterpart single-task models in recognizing structural components and estimating damage states. Particularly, the pixel-level damage state estimation witnesses a mIoU (mean intersection over union) improvement from 0.5855 to 0.6374. For the defect detection tasks, rebar exposure is omitted due to the extremely biased sample distribution. The segmentations of crack and spall are automated by single-task U-Net but with extra efforts to resample the provided data. The segmentation of small objects (spall and crack) benefits from the resampling method, with a substantial IoU increment of nearly 10%.

• Journal of KIISE
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• v.43 no.8
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• pp.878-882
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• 2016

Automatic generation of captions for an image is a very difficult task, due to the necessity of computer vision and natural language processing technologies. However, this task has many important applications, such as early childhood education, image retrieval, and navigation for blind. In this paper, we describe a Recurrent Neural Network (RNN) model for generating image captions, which takes image features extracted from a Convolutional Neural Network (CNN). We demonstrate that our models produce state of the art results in image caption generation experiments on the Flickr 8K, Flickr 30K, and MS COCO datasets.

• Management Science and Financial Engineering
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• v.17 no.2
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• pp.39-62
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• 2011

In wireless sensor network, since each sensor is equipped with a limited power, efficient use of the energy is important. One possible network management scheme is to cluster the sensors into several sets, so that the sensors in each of the sets can completely perform the monitoring task. Then the sensors in one set become active to perform the monitoring task and the rest of the sensors switch to a sleep state to save energy. Therefore, we rotate the roles of the active set among the sensors to maximize the network lifetime. In this paper, we suggest an optimal algorithm for the maximum lifetime coverage problem which maximizes the network lifetime. For comparison, we implemented both the heuristic proposed earlier and our algorithm, and executed computational experiments. Our algorithm outperformed the heuristic concerning the obtained network lifetimes, and it found the solutions in a reasonable amount of time.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.15 no.4
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• pp.1275-1292
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• 2021

As a fine-grained classification problem, aspect-level sentiment classification predicts the sentiment polarity for different aspects in context. To address this issue, researchers have widely used attention mechanisms to abstract the relationship between context and aspects. Still, it is difficult to effectively obtain a more profound semantic representation, and the strong correlation between local context features and the aspect-based sentiment is rarely considered. In this paper, a hybrid attention capsule network for aspect-level sentiment classification (ABASCap) was proposed. In this model, the multi-head self-attention was improved, and a context mask mechanism based on adjustable context window was proposed, so as to effectively obtain the internal association between aspects and context. Moreover, the dynamic routing algorithm and activation function in capsule network were optimized to meet the task requirements. Finally, sufficient experiments were conducted on three benchmark datasets in different domains. Compared with other baseline models, ABASCap achieved better classification results, and outperformed the state-of-the-art methods in this task after incorporating pre-training BERT.

• KIPS Transactions on Computer and Communication Systems
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• v.9 no.11
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• pp.265-272
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• 2020

In the research of brain computer interface (BCI) technology, one of the big problems encountered is how to deal with some people as called the BCI-illiteracy group who could not control the BCI system. To approach this problem efficiently, we investigated a kind of spectral EEG characteristics in the prior resting state in association with BCI performance in the following BCI tasks. First, spectral powers of EEG signals in the resting state with both eyes-open and eyes-closed conditions were respectively extracted. Second, a convolution neural network (CNN) based binary classifier discriminated the binary motor imagery intention in the BCI task. Both the linear correlation and binary prediction methods confirmed that the spectral EEG characteristics in the prior resting state were highly related to the BCI performance in the following BCI task. Linear regression analysis demonstrated that the relative ratio of the 13 Hz below and above the spectral power in the resting state with only eyes-open, not eyes-closed condition, were significantly correlated with the quantified metrics of the BCI performance (r=0.544). A binary classifier based on the linear regression with L1 regularization method was able to discriminate the high-performance group and low-performance group in the following BCI task by using the spectral-based EEG features in the precedent resting state (AUC=0.817). These results strongly support that the spectral EEG characteristics in the frontal regions during the resting state with eyes-open condition should be used as a good predictor of the following BCI task performance.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.2
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• pp.103-108
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• 2005

Loading/Unloading task in the real industry is performed by crane, but most of the loading/unloading task with the weight of 5kg∼30kg is done by human workers and this kind of work causes industrial disaster of workers. Therefore it is necessary to develop low cost loading/unloading manipulator system to prevent this kind of industrial accidents. This paper is concerned with the design and fabrication of 2 axis pneumatic manipulators using on/off solenoid valves and accurate position control without respect to the external load and low damping in the pneumatic rotary actuator. To overcome the change of external load, switching of control parameter using LVQNN (Learning Vector Quantization Neural Network) is newly applied, which estimates the external loads in the pneumatic cylinder. As an underlying controller, a state feedback controller using position, velocity and acceleration is applied to the switching control system. The effectiveness of the proposed control algorithms are demonstrated through experiments of pneumatic cylinder with various loads.

• International Journal of Computer Science & Network Security
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• v.22 no.3
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• pp.163-172
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• 2022

The interconnection of an enormous number of devices into the Internet at a massive scale is a consequence of the Internet of Things (IoT). As a result, tasks offloading from these IoT devices to remote cloud data centers become expensive and inefficient as their number and amount of its emitted data increase exponentially. It is also a challenge to optimize IoT device energy consumption while meeting its application time deadline and data delivery constraints. Consequently, Fog Computing was proposed to support efficient IoT tasks processing as it has a feature of lower service delay, being adjacent to IoT nodes. However, cloud task offloading is still performed frequently as Fog computing has less resources compared to remote cloud. Thus, optimized schemes are required to correctly characterize and distribute IoT devices tasks offloading in a hybrid IoT, Fog, and cloud paradigm. In this paper, we present a detailed survey and classification of of recently published research articles that address the energy efficiency of task offloading schemes in IoT-Fog-Cloud paradigm. Moreover, we also developed a taxonomy for the classification of these schemes and provided a comparative study of different schemes: by identifying achieved advantage and disadvantage of each scheme, as well its related drawbacks and limitations. Moreover, we also state open research issues in the development of energy efficient, scalable, optimized task offloading schemes for Fog computing.